Development of a Robot Prosthetic Hand System Based on Finger Joint Angle Estimation Using Surface EMG Signals

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The goal of this study was to develop a robot prosthetic hand system for an amputee that estimates his desired finger angle from surface EMG signals, and operates with the motion he intends. Consequently, we have proposed a finger joint angle estimation method based on a histogram of EMG signals and a linear model. Moreover, a 2-DOF artificial finger robot has been designed and developed. Using this robot and our proposed finger joint angle estimation method, we executed a robot prosthetic finger system demonstration experiment. As a result, it was confirmed that our system is technically feasible for application to a real prosthetic hand system.